/* Copyright (c) 2017, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 *
 * All rights reserved.
 *
 * The Astrobee platform is licensed under the Apache License, Version 2.0
 * (the "License"); you may not use this file except in compliance with the
 * License. You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations
 * under the License.
 */
#ifndef VISION_COMMON_POSE_WITH_COVARIANCE_AND_INLIERS_H_
#define VISION_COMMON_POSE_WITH_COVARIANCE_AND_INLIERS_H_

#include <localization_common/pose_with_covariance.h>

#include <Eigen/Geometry>

#include <vector>

namespace vision_common {
struct PoseWithCovarianceAndInliers : public localization_common::PoseWithCovariance {
  PoseWithCovarianceAndInliers(const Eigen::Isometry3d& pose, const localization_common::PoseCovariance& covariance,
                               const std::vector<int>& inliers)
      : PoseWithCovariance(pose, covariance), inliers(inliers) {}
  std::vector<int> inliers;
};
}  // namespace vision_common

#endif  // VISION_COMMON_POSE_WITH_COVARIANCE_AND_INLIERS_H_
